feat: Add ROS 2 Humble Dockerfile

.github/workflows/deploy.yml

@@ -9,6 +9,7 @@ on:
       - ".github/workflows/deploy.yml"
   schedule:
     - cron: "7 4 * * 0" # Weekly on Sundays at 13:07 (JST)
+  workflow_dispatch:
 
 env:
   DOCKER_USERNAME: tiryoh
@@ -21,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-distro: [foxy, galactic, rolling]
+        ros-distro: [foxy, galactic, humble, rolling]
         arch: [arm64, amd64]
     runs-on: ubuntu-latest
     steps:

.github/workflows/test.yml

@@ -9,6 +9,7 @@ on:
       - ".github/workflows/test.yml"
   schedule:
     - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+  workflow_dispatch:
 
 env:
   DOCKER_USERNAME: tiryoh
@@ -19,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-distro: [foxy, galactic, rolling]
+        ros-distro: [foxy, galactic, humble, rolling]
         arch: [arm64, amd64]
     runs-on: ubuntu-latest
     steps:
@@ -55,7 +56,13 @@ jobs:
         env:
           DOCKER_TAGNAME: ${{ matrix.ros-distro }}-${{ matrix.arch }}
         run: |
-          cd ${DOCKER_TAGNAME%-amd64} && docker build ${{ steps.docker-build-option.outputs.labels }} -t $DOCKER_USERNAME/$DOCKER_IMAGENAME:$DOCKER_TAGNAME .
+          if [[ -d ${DOCKER_TAGNAME%-amd64} ]]; then
+              cd ${DOCKER_TAGNAME%-amd64} && docker build ${{ steps.docker-build-option.outputs.labels }} -t $DOCKER_USERNAME/$DOCKER_IMAGENAME:$DOCKER_TAGNAME .
+          elif [[ -d ${DOCKER_TAGNAME%-arm64} ]]; then
+              cd ${DOCKER_TAGNAME%-arm64} && docker build ${{ steps.docker-build-option.outputs.labels }} -t $DOCKER_USERNAME/$DOCKER_IMAGENAME:$DOCKER_TAGNAME .
+          else
+              exit 1
+          fi
 
       - name: List docker images
         run: |

README.md

@@ -26,6 +26,12 @@ Change the `shm-size` value depending on the situation.
 docker run -p 6080:80 --shm-size=512m tiryoh/ros2-desktop-vnc:foxy
 ```
 
+__NOTE__: `--security-opt seccomp=unconfined` flag is required to launch humble image. See https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56.
+
+```
+docker run -p 6080:80 --shm-size=512m --security-opt seccomp=unconfined tiryoh/ros2-desktop-vnc:humble
+```
+
 Browse http://127.0.0.1:6080/.
 
 ![Image from Gyazo](https://i.gyazo.com/ab43ab3f6dc10b5186416499e49d0bbe.jpg)
@@ -54,12 +60,24 @@ cd foxy && docker build -t tiryoh/ros2-desktop-vnc:foxy .
 cd galactic && docker build -t tiryoh/ros2-desktop-vnc:galactic .
 ```
 
+* humble
+```
+cd humble && docker build -t tiryoh/ros2-desktop-vnc:humble .
+```
+
+* rolling
+```
+cd rolling && docker build -t tiryoh/ros2-desktop-vnc:rolling .
+```
+
 ## Docker tags on hub.docker.com
 
 * ~~[`dashing`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=dashing) which is based on [`dashing/Dockerfile`](./dashing/Dockerfile)~~ deprecated
 * ~~[`eloquent`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=eloquent) which is based on [`eloquent/Dockerfile`](./eloquent/Dockerfile)~~ deprecated
 * [`foxy`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=foxy), [`latest`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=latest) which is based on [`foxy/Dockerfile`](./foxy/Dockerfile)
 * [`galactic`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=galactic) which is based on [`galactic/Dockerfile`](./galactic/Dockerfile)
+* [`humble`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=humble) which is based on [`humble/Dockerfile`](./humble/Dockerfile)
+* [`rolling`](https://hub.docker.com/r/tiryoh/ros2-desktop-vnc/tags?page=1&name=rolling) which is based on [`rolling/Dockerfile`](./rolling/Dockerfile)
 
 Docker tags and build logs are listed on this page.  
 https://github.com/Tiryoh/docker-ros2-desktop-vnc/wiki

humble-arm64/Dockerfile

@@ -0,0 +1,59 @@
+# Copyright 2020-2022 Tiryoh<[email protected]>
+# 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM tiryoh/ubuntu-desktop-lxde-vnc:jammy
+LABEL maintainer="Tiryoh<[email protected]>"
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update -q && \
+    apt-get upgrade -yq && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq wget curl git build-essential vim sudo lsb-release locales bash-completion tzdata gosu && \
+    rm -rf /var/lib/apt/lists/*
+RUN useradd --create-home --home-dir /home/ubuntu --shell /bin/bash --user-group --groups adm,sudo ubuntu && \
+    echo ubuntu:ubuntu | chpasswd && \
+    echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+ARG ROS_DISTRO=humble
+ARG INSTALL_PACKAGE=desktop
+
+RUN apt-get update -q && \
+    apt-get install -y curl gnupg2 lsb-release && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update -q && \
+    apt-get install -y ros-${ROS_DISTRO}-${INSTALL_PACKAGE} \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-rosdep python3-vcstool && \
+    rosdep init && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install simulation package only on amd64
+# Not ready for arm64 for now (July 28th, 2020)
+# https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56#issuecomment-1196359860
+# RUN apt-get update -q && \
+#     apt-get install -y \
+#     ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+#     ros-${ROS_DISTRO}-ros-ign && \
+#     rm -rf /var/lib/apt/lists/*
+
+RUN gosu ubuntu rosdep update && \
+    grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /home/ubuntu/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/ubuntu/.bashrc && \
+    sudo chown ubuntu:ubuntu /home/ubuntu/.bashrc
+
+RUN echo 'sed -i -e "s/palette_color_4=rgb([0-9,]*)/palette_color_4=rgb(51,61,255)/g" $HOME/.config/lxterminal/lxterminal.conf' > /usr/local/bin/update-lxterminal.sh && \
+    chmod +x /usr/local/bin/update-lxterminal.sh
+
+ENV USER ubuntu

humble/Dockerfile

@@ -0,0 +1,59 @@
+# Copyright 2020-2022 Tiryoh<[email protected]>
+# 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM tiryoh/ubuntu-desktop-lxde-vnc:jammy
+LABEL maintainer="Tiryoh<[email protected]>"
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update -q && \
+    apt-get upgrade -yq && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq wget curl git build-essential vim sudo lsb-release locales bash-completion tzdata gosu && \
+    rm -rf /var/lib/apt/lists/*
+RUN useradd --create-home --home-dir /home/ubuntu --shell /bin/bash --user-group --groups adm,sudo ubuntu && \
+    echo ubuntu:ubuntu | chpasswd && \
+    echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+ARG ROS_DISTRO=humble
+ARG INSTALL_PACKAGE=desktop
+
+RUN apt-get update -q && \
+    apt-get install -y curl gnupg2 lsb-release && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update -q && \
+    apt-get install -y ros-${ROS_DISTRO}-${INSTALL_PACKAGE} \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-rosdep python3-vcstool && \
+    rosdep init && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install simulation package only on amd64
+# Not ready for arm64 for now (July 28th, 2020)
+# https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56#issuecomment-1196359860
+RUN apt-get update -q && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-ros-ign && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN gosu ubuntu rosdep update && \
+    grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /home/ubuntu/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/ubuntu/.bashrc && \
+    sudo chown ubuntu:ubuntu /home/ubuntu/.bashrc
+
+RUN echo 'sed -i -e "s/palette_color_4=rgb([0-9,]*)/palette_color_4=rgb(51,61,255)/g" $HOME/.config/lxterminal/lxterminal.conf' > /usr/local/bin/update-lxterminal.sh && \
+    chmod +x /usr/local/bin/update-lxterminal.sh
+
+ENV USER ubuntu